DocumentCode
2350723
Title
New joint design for three-dimensional hyper redundant robots
Author
Shammas, Elie ; Wolf, Alon ; Brown, H. Ben, Jr. ; Choset, Howie
Author_Institution
Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume
4
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
3594
Abstract
This paper presents a novel compact design for a two degrees of freedom (DOF) joint mechanism. The joint is optimized for compactness, strength and range of motion which makes it ideal for constructing spatial or three-dimensional hyper redundant robots. We also identify and classify various prior joint designs that led to the development of this new concept. Finally, we present the joint forward kinematics, and force and torque calculations to verify the joint´s range of motion and mechanical advantage.
Keywords
flexible manipulators; manipulator dynamics; manipulator kinematics; redundant manipulators; DOF joint mechanism; degrees of freedom; force calculations; joint designs; joint forward kinematics; spatial hyper redundant robots; three-dimensional hyper-redundant robots; torque calculations; Actuators; Force measurement; Joining processes; Kinematics; Mechanical variables measurement; Motion planning; Resists; Robot sensing systems; Torque measurement; US Department of Energy;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1249713
Filename
1249713
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